I think these are called "films."

Seriously, though, I do like the idea of an audio-pop-up-book. But when I was thinking about how it would work my mind said "...isn't that just a film with extra steps?"

Perhaps the film version of Society of the Spectacle might be something of the type you're thinking about. It's mostly a reading from the book overlaid over a film.

You might want to check out some movies. Some of them are based on books, for example "The Wizard of Oz" is a pretty popular one.

Can’t speak to anything in general but for anything related to Brandon Sanderson there’s coppermind.

Any time the narrator is describing an illustration I’ll look up the book art from there.

Otherwise I avoid it like the plague to avoid spoilers

I've seen a couple places offering what they'll call something like "enhanced ebooks"

I admit that I haven't given any of them a try, but the gist is that they're an ebook with some extra multimedia content. It kind of looks like some places that do them do the absolute bare minimum to slap the "enhanced" label on them and just add some extra pictures and maps and such, and others go whole hog with added video, the full audio drama treatment with sound effects, different actors for the various characters, narration, etc. so some of them may potentially fill the role you're looking for

You've basically described a simple visual novel. Much more of a thing for Japanese media, but the idea has recently started to catch on for Western media.

For example, Pillars of the Earth was adapted as a point and click game/visual novel. These are very rare though.

The most I can think of are motion comics (with sound). They're sort of in-between audio books and animation, mostly voice acting but sometimes also explaining a scene.

DC for example used to make them, like this one: https://www.youtube.com/watch?v=zZjrOEs8Ss0

Looks like they went out of fashion though. A real shame, many of them had stellar voice acting and actually good production value.

Not what you are looking for but I remember on psp there was Metal Gear Solid "digital graphic novels". Basically narrated comics

One of (or both of?) The dudes from Mars Volta wrote a book that comes with both an accompanying audio reading of the book with music in the background, and an art book you're meant to follow along with. I forgot what it's called; one of my friends from years ago had it when he got super into the band. It's pretty trippy though. IIRC, it's like a tribute to one of their friends that had died.